Lost Connection, RTH Near Crash, February 23, 2021

Mavic 2 Pro Zoom after an NFZ is issued followed by an RTH returning home at 400ft and 18mph. There is a building on its direct path with a flagpole. The front sensors avoid the crash as the drone is within 50ft from the building. It gradually climbs to 600ft to clear the building and then another 14ft to 704ft clear the flagpole and return safely home!